Control system for vehicle

ABSTRACT

A vehicular control system suitable for use in a vehicle includes a data processor module for receiving and processing image data provided by a plurality of video sensors, which include at least five cameras, and sensor data provided by a plurality of non-video sensors, which include a radar sensor. The data processor module receives image data captured by the cameras and radar data captured by the radar sensor. The data processor module communicates with other vehicle systems via a vehicle bus of the equipped vehicle. Responsive at least in part to processing of image data and sensor data at the data processor module, other vehicles present exterior of the equipped vehicle are detected. Responsive at least in part to processing of image data and sensor data at the data processor module, a speed control system of the equipped vehicle is controlled.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/599,583, filed May 19, 2017, now U.S. Pat. No. 9,834,142, which is acontinuation of U.S. patent application Ser. No. 15/180,645, filed Jun.13, 2016, now U.S. Pat. No. 9,656,608, which is a continuation of U.S.patent application Ser. No. 14/942,087, filed Nov. 16, 2015, now U.S.Pat. No. 9,376,060, which is a continuation of U.S. patent applicationSer. No. 13/800,677, filed Mar. 13, 2013, now U.S. Pat. No. 9,191,574,which is a continuation of U.S. patent application Ser. No. 12/708,079,filed Feb. 18, 2010, now U.S. Pat. No. 8,405,725, which is acontinuation of U.S. patent application Ser. No. 10/209,181, filed Jul.31, 2002, now U.S. Pat. No. 7,697,027, which claims priority from U.S.provisional patent application Ser. No. 60/309,023, filed on Jul. 31,2001, the disclosure of which is hereby incorporated herein by referencein its entirety.

FIELD OF THE INVENTION

This invention is directed to a video processor made for a vehicularvideo system and, more particularly, to a single electronic module whichprocesses images from multiple image capture devices, such as CMOS videocameras, mounted throughout the interior and/or exterior of a vehicle,such as an automobile.

BACKGROUND THE INVENTION

It is known to use multiple video cameras on a vehicle to capture imagesboth interior to the vehicle and exterior to the vehicle. It is alsoknown to process the image outputs of such cameras by a variety ofcontrols in order to display said images to a driver or another occupantof the vehicle, or to utilize the output of a camera in order togenerate a control signal for a vehicular accessory, such as a headlampor windshield wiper. As the number and complexity of camera-basedaccessories and features grows in a vehicle, there is a need toeconomically and efficiently process the multiple outputs from aplurality of camera and other sensors in order to perform a plurality ofimage displays and control functions.

SUMMARY OF THE INVENTION

The present invention is directed to a Video Processor Module (VPM) thatis adapted to accept input from several vehicular cameras and optionallyfrom other non-video devices and sensors in or on the vehicle and toprocess the image outputs therefrom in order to provide a variety offunctions and controls. The VPM is preferably further adapted tointerface with other vehicle modules via interfaces to the vehiclecommunication buses, such as via a CAN bus and/or a LIN bus.

A vehicle-based video processor module for a video system of a vehicle,according to an aspect of the invention, includes a video processorcircuit, a plurality of electronic sensor interfaces that are operableto receive image output data from a plurality of imaging devices and atleast one electronic vehicle interface that is operable to communicatewith a vehicle communication bus. The video processor circuit isoperable to process the image output data from the plurality of imagingdevices into a single database in a standard format.

A vehicle-based video processor module for a video system of a vehicle,according to an aspect of the invention, includes a video processorcircuit, a plurality of electronic sensor interfaces that are operableto receive image output data from a plurality of imaging devices and atleast one electronic vehicle interface that is operable to communicatewith a vehicle communication bus. The video processor circuit isoperable to process the image output data from the plurality of imagingdevices and to enhance the image output data.

These and other objects, advantages and features of this invention willbecome apparent upon review of the following specification inconjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top plan view of a vehicle outfitted with a vehicular videosystem, according to the invention; and

FIG. 2 is a block diagram of a video processor module, according to theinvention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 is illustrated in FIG. 1 having a vehicular videosystem 12, according to the invention. Vehicular video system 12includes video processor module (VPM) 14, which receives input from aplurality of sensors, generally shown at 16. VPM 14 processes the outputdata from the plurality of devices and enhances the image output data.Sensors 16 may be imaging devices, such as vehicular cameras, as well asnon-imaging devices. An example of a mix of sensors 16 that may be usedin vehicular video system 12 includes imaging sensors, forward-facingimaging sensors, rearward-facing imaging sensors, left-side-facingimaging sensors, right-side-imaging sensors, inward-facing cabin-imagingsensors, and the like. Non-video sensors may include a near infraredsensor, a far infrared sensor, a radar sensor such as a Doppler radarsensor, a sonar sensor, a thermal sensor, a night vision sensor such asa multi-pixel bolometer and any other sensors which establish thepresence, distance to, position and/or speed of an object. A Dopplerradar sensor or side-facing camera may be mounted at an exterior mirrorassembly. A forward-facing camera may be mounted at an interior mirrorassembly of the vehicle that performs a headlamp control and/orwindshield wiper control function. A side lane blind spot and/or lanechange system may be provided and the VPM may be adapted to accept datafrom a variety of other non-video sensors to enhance performance in allvisibility situations, such as when driving in fog or other lowvisibility conditions.

Video processor module 14 includes a video processor circuit 18 and aplurality of electronic sensor interfaces 20 for receiving data from aplurality of sensors 16. In the embodiment illustrated in FIG. 2,electronic interfaces 20 are illustrated as receiving image data outputrespectively from right-hand-facing and left-hand-facing side cameras, afront-facing camera and a rear-facing camera. The image data may betransmitted across a robust transmission means, such as a fiber-opticcable or a high-density wireless link, or the like. However, electronicinterfaces 20 are capable of receiving data from non-imaging sensors aswell. Electronic interfaces 20 may be utilized, J1394 Firewire protocol,NTSC protocol, or other standard protocol. Video processor module 14includes at least one electronic vehicle interface 22 which is operativeto interface with a vehicle bus, such as a CAN bus, a LIN bus, or thelike.

Video processor circuit 18 includes a core 26 to exchange data withelectronic sensor interfaces 20, and a core 28 to exchange data withelectronic vehicle interfaces 22. A memory device 24 stores various datasuch as settings. Video processor circuit 18 includes a camera selectionand advanced camera control section 30 for controlling the individualsensor devices and for integrating data from the plurality of sensors,such as by fusing or combining image data from multiple imaging sensorsand data from non-imaging sensors. This combined or fused data ispreprocessed into a single database in a standard format. Videoprocessor circuit 18 further includes an object-tracking section 32 fortracking objects that are identified and classified by an objectclassification section 34. Video processor circuit 18 further includes adisplay section 36 which generates on-screen display signals and adiagnostic section 35 for performing diagnostics.

Having described the components of vehicular video system 12 and theiroperation, examples of various functions that can be supported with thisvehicular video system will be set forth. One set of functions includesfeatures for viewing of a displayed image. Video processor module 14 maybe capable of merging of images from a plurality of imaging sensors 16to provide a panoramic view, which exceeds the field of view of a singlecamera or allows the image to “wrap” around the vehicle. Video processormodule 14 may be further capable of electronic elimination ofdistortions created by wide-angle lenses used with sensors 16. Videoprocessor module 14 may be capable of superimposing graphics onto adisplayed image to provide additional information to the observer.

Another set of functions includes features for sensing using anelectronic image. Video processor module 14 may be programmed to becapable of detection with object position, speed and classification tosupport one or more of the following features:

-   -   Blind spot detection    -   Lane change aid    -   Adaptive speed control    -   Reverse aid warning    -   Advanced crash warning        Video processor module 14 may be programmed to be capable of        detecting the location of a lane on a road in conjunction with        an imaging sensor 16. This capability can support a lane        departure-warning feature or autonomous vehicle control. Video        processor module 14 may use imaging sensors to establish ambient        lighting and detect other vehicles for automatic control of the        headlamps (on/off) and high/low beams. Video processor module 14        may have the capability to use imaging sensors to establish        ambient lighting and vehicle headlamps for automatic control of        electrochromic mirrors. Video processor module 14 may have the        capability to detect the presence, position and size of        occupants inside the vehicle. Video processor module 14 may have        the capability to stabilize an image for viewing or use in        sensing algorithms. It should be understood that the listed        features and functions are illustrative only. Which of the        particular ones that are used for a particular vehicular        application may differ from those used for other vehicular        applications. Additionally, other features and functions may be        identified for video processor module 14 by the skilled artisan.

VPM 14 can be utilized in a variety of applications such as disclosed incommonly assigned U.S. Pat. Nos. 5,670,935; 5,949,331; 6,222,447;6,201,642; 6,097,023; 5,715,093; 5,796,094 and 5,877,897 and commonlyassigned patent applications, Ser. No. 09/793,002 filed Feb. 26, 2001,now U.S. Pat. No. 6,690,268, Ser. No. 09/372,915, filed Aug. 12, 1999,now U.S. Pat. No. 6,396,397, Ser. No. 09/767,939, filed Jan. 23, 2001,now U.S. Pat. No. 6,590,719, Ser. No. 09/776,625, filed Feb. 5, 2001,now U.S. Pat. No. 6,611,202, Ser. No. 09/799,993, filed Mar. 6, 2001,now U.S. Pat. No. 6,538,827, Ser. No. 09/493,522, filed Jan. 28, 2000,now U.S. Pat. No. 6,426,492, Ser. No. 09/199,907, filed Nov. 25, 1998,now U.S. Pat. No. 6,717,610, Ser. No. 08/952,026, filed Nov. 19, 1997,now U.S. Pat. No. 6,498,620, and Ser. No. 09/227,344, filed Jan. 8,1999, now U.S. Pat. No. 6,302,545, International Publication No. WO96/38319, published Dec. 5, 1996, and International Publication No. WO99/23828, published May 14, 1999, the disclosures of which arecollectively incorporated herein by reference.

For example, VPM 14 can be utilized in a vehicle equipped with a sideobject detection system utilizing stereoscopic imaging from cameraslocated in the driver-side exterior mirror assembly and/or in thepassenger-side exterior mirror assembly, such as is described incommonly assigned patent application Ser. No. 09/372,915, filed Aug. 12,1999, now U.S. Pat. No. 6,396,397, the disclosure of which is herebyincorporated herein by reference, and further equipped with a CMOScamera-based headlamp controller as disclosed in commonly assigned U.S.Pat. Nos. 5,796,094 and 6,097,023, the disclosures of which are herebyincorporated herein by reference, and with the various image outputsbeing processed by the VPM. In this regard, should the vehicle beequipped with high intensity discharge (HID)/gas discharge headlamps (asknown in the automotive lighting art), then the VPM can receive theoutput signal from a forward-facing CMOS camera (preferably mounted ator in the interior rearview mirror assembly and viewing oncomingheadlights of approaching vehicles through the front windshield of thevehicle) and the VPM can control the intensity and/or direction of thelight beam output from the HID headlamps as a function of the lightlevel of the oncoming approaching headlamps as detected by the interiorrearview mirror located forward-facing multipixel CMOS camera-on-a-chiplight detector. Preferably, the intensity of the light beam output bythe vehicle's HID lamps is inversely proportional to the intensity ofthe detected oncoming headlamps and, most preferably, the intensity ofthe HID headlamps is continuously variable inversely proportional to theintensity of the oncoming headlight intensity of approaching vehicles asdetected by the forward-facing CMOS camera.

Further, and preferably, the vehicle may be equipped with a mobilecellular phone that is docked into a cell phone cradle system (such asin the CellPort 3000 system available from Cellport Systems Inc. ofBoulder, Colo.) to allow a driver to conduct a hands-free telephone callwhen driving, and to provide the driver the option of undocking thecellular phone as desired in order to use the cellular phone, forexample, when the driver departs the vehicle. The cell phone cradlesystem can include a sound-processing system (preferably including amicrophone or microphone array, and such as is disclosed in commonlyassigned patent application Ser. No. 09/466,010, filed Dec. 17, 1999,now U.S. Pat. No. 6,420,975, the disclosure of which is herebyincorporated herein by reference, and other accessories, and with thecell cradle providing outputs at least partially processed by the VPM.

The vehicle may also be equipped with a navigational system, such as aglobal positioning system, and with controls and/or functions of saidnavigational system being at least partially processed by VPM 14. For avehicle equipped with a GPS system and with a cell phone cradle (such asthe CellPort 3000 system), a control input can be provided in theinterior of the vehicle (such as at or on the interior mirror assembly)and/or a voice command control system can be provided whereby when thecontrol input and/or voice command is actuated, a call is initiated toan external service (such as an emergency service of a concierge serviceor an information service) located remote from the vehicle and whereinthe location of the vehicle (as generated by the vehicular navigationalsystem) is automatically transmitted to the external service so that theexternal service can know the location of the vehicle and so provideassistance, advice and/or directions, and the like, to the driver ofthat vehicle. Such communication of geographic positional data can betransmitted by telecommunication via a phone network (such as Sprint orMCI or ATT, or the like) in a voice-over-data format allowing the driverto have a conversation with the service provider (and/or with anotherparty) concurrent with the transmission of the vehicle locationinformation to the service provider via telephonic linkage via thedocked cell phone (or, optionally, via a BLUETOOTH or similarshort-range RF wireless link between a cellular phone in, for example,the pocket of a driver and a cell phonelinking/telecommunication/telematic station located, for example, at aninterior rearview mirror assembly of the vehicle or in a dashboard orconsole area of the vehicle) to the external service provider.Preferably, at least some of such processing is handled by VPM 14 and,in particular, when videoconferencing is used.

The present invention can be used in a lane change aid system such asdisclosed in a commonly assigned provisional patent application Ser. No.60/309,022 filed Jul. 31, 2001, and a utility patent application filedconcurrently herewith by Schofield for an AUTOMOTIVE LANE CHANGE AID,now U.S. Pat. No. 6,882,287, the disclosures of which are herebyincorporated herein by reference.

Also, a night vision system camera (such as an infrared detectingmicrobolometer night vision camera or a CMOS/near-IR detecting cameraused in conjunction with a near-IR laser source for illumination forwardof the vehicle) and an intelligent headlamp controller (such as aforward-facing CMOS video camera that automatically detects approachingvehicles and that dims the headlights of the host vehicle in response)can have their outputs combined/fused in accordance with the presentinvention to identify objects hazardous to the driver, such as a deercrossing the road ahead of the vehicle as the vehicle travels down adark road at night. The control can, in response, automatically activateone or both existing headlamps, for example, to flash them or to movefrom a low-beam state to a high-beam state or to activate an additionalheadlamp or fog lamp or to adjust headlamps to high beam so that theobject may be illuminated for the driver. Current night vision systemsmay either provide too much information for the driver to usefullyassimilate or may distract him/her from attention to the road. The abovecombination achieved via the fusion system of the present inventionallows use of the night vision system/intelligent headlamp controller toautomatically provide extra forward illumination at the time requiredfor the driver to take action to avoid a problem, which is the realintent behind the night vision system in the first place. The fusion ofthese inputs into a single processor achieves optimized nighttimedriving safety. Note that a single forward-facing camera can performboth the night vision and intelligent headlamp control functions.

VPM 14 may receive both wired inputs and wireless inputs. For example, arestricted-range RF wireless communication device such as a BLUETOOTHdevice (housed, for example within an inside mirror or housed elsewherein the interior cabin such as in an overhead console or afacia/instrumentation panel) can be used as a convenient channellocation for the programming or reprogramming of various types ofradio-frequency (RF) devices in a vehicle and/or to facilitate the useof RF as a means to program or reprogram non-RF devices to providedrivers with a more complete personalization of a vehicle (e.g.,trainable garage door open, memory seat/mirror position, outside mirrorposition, etc.). This can be used in, for example, rental cars where anRF signal can be provided (such as via an RF transmitter located in theinterior mirror assembly or in a windshield electronic accessory module)from a personal display assistant device (PDA) such as a PalmPilot® PDAand thus provide a driver with immediate personalization to includetemperature/climate control, radio setting, exterior mirror reflectorposition and other preferences.

In accordance with U.S. Pat. Nos. 5,949,331 and 6,222,447, incorporatedby reference above, a display system of the equipped vehicle displays asynthesized image that visually informs the driver of what is occurringin the area surrounding the equipped vehicle. The displayed image issynthesized from the camera outputs and, preferably, approximates asubstantially seamless panoramic view as would be viewed by a singlevirtual camera located exterior the equipped vehicle.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular control system suitable for use in a vehicle, saidvehicular control system comprising: a data processor module disposed ata vehicle equipped with said vehicular control system; said dataprocessor module receiving and processing image data provided by aplurality of video sensors disposed at the equipped vehicle; said dataprocessor module receiving and processing sensor data provided by aplurality of non-video sensors disposed at the equipped vehicle; saidplurality of non-video sensors comprising a radar sensor; said pluralityof video sensors comprising at least five vehicular cameras; said atleast five vehicular cameras comprising a first vehicular cameradisposed at a driver side of the equipped vehicle; said at least fivevehicular cameras comprising a second vehicular camera disposed at apassenger side of the equipped vehicle; said at least five vehicularcameras comprising a third vehicular camera disposed at a rear portionof the equipped vehicle; said at least five vehicular cameras comprisinga fourth vehicular camera disposed at a front portion of the equippedvehicle; said at least five vehicular cameras comprising a fifthvehicular camera disposed at an in-cabin side of a windshield of theequipped vehicle and viewing forwardly through the windshield of theequipped vehicle; wherein said first vehicular camera has a first fieldof view exterior of the equipped vehicle and is operable to capturefirst image data; wherein said second vehicular camera has a secondfield of view exterior of the equipped vehicle and is operable tocapture second image data; wherein said third vehicular camera has athird field of view exterior of the equipped vehicle and is operable tocapture third image data; wherein said fourth vehicular camera has afourth field of view exterior of the equipped vehicle and is operable tocapture fourth image data; wherein said fifth vehicular camera has afifth field of view exterior of the equipped vehicle and is operable tocapture fifth image data; wherein said data processor module receivesfirst image data captured by said first vehicular camera at a firstinterface; wherein said data processor module receives second image datacaptured by said second vehicular camera at a second interface; whereinsaid data processor module receives third image data captured by saidthird vehicular camera at a third interface; wherein said data processormodule receives fourth image data captured by said fourth vehicularcamera at a fourth interface; wherein said data processor modulereceives fifth image data captured by said fifth vehicular camera at afifth interface; wherein said data processor module receives radar datacaptured by said radar sensor of said plurality of non-video sensors;wherein said data processor module comprises a radar sensor interfaceconfigured for receiving radar data captured by said radar sensor ofsaid plurality of non-video sensors; wherein said data processor modulecommunicates with other vehicle systems via a vehicle bus of theequipped vehicle; wherein, responsive at least in part to processing ofimage data and sensor data at said data processor module, other vehiclespresent exterior of the equipped vehicle are detected; and wherein,responsive at least in part to processing of image data and sensor dataat said data processor module, a speed control system of the equippedvehicle is controlled.
 2. The vehicular control system of claim 1,wherein other vehicles detected present exterior of the equipped vehicleare tracked based at least in part on processing of image data andsensor data at said data processor module.
 3. The vehicular controlsystem of claim 2, wherein, responsive at least in part to processing atsaid data processor module of image data captured by said fifthvehicular camera, an edge of a lane on a road along which the equippedvehicle is travelling is detected.
 4. The vehicular control system ofclaim 3, wherein, responsive at least in part to processing at said dataprocessor module of image data captured by said fifth vehicular camera,another vehicle present exterior of the equipped vehicle is detected. 5.The vehicular control system of claim 4, wherein, responsive at least inpart to the detection of the other vehicle present exterior of theequipped vehicle, a state of headlamps of the equipped vehicle iscontrolled.
 6. The vehicular control system of claim 1, wherein saiddata processor module receives first image data captured by said firstvehicular camera at said first interface via a vehicle bus of theequipped vehicle, and wherein said data processor module receives secondimage data captured by said second vehicular camera at said secondinterface via a vehicle bus of the equipped vehicle, and wherein saiddata processor module receives third image data captured by said thirdvehicular camera at said third interface via a vehicle bus of theequipped vehicle, and wherein said data processor module receives fourthimage data captured by said fourth vehicular camera at said fourthinterface via a vehicle bus of the equipped vehicle.
 7. The vehicularcontrol system of claim 1, wherein said data processor modulecommunicates with said radar sensor via a vehicle bus of the equippedvehicle.
 8. The vehicular control system of claim 1, wherein said firstvehicular camera is disposed at a driver-side exterior mirror assemblyat the driver side of the equipped vehicle, and wherein said secondvehicular camera is disposed at a passenger-side exterior mirrorassembly at the passenger side of the equipped vehicle.
 9. The vehicularcontrol system of claim 8, wherein said data processor modulecommunicates with other vehicle systems via a CAN vehicle bus of theequipped vehicle.
 10. The vehicular control system of claim 9, whereinsaid data processor module comprises a video processor chip.
 11. Thevehicular control system of claim 1, wherein said third vehicular cameradisposed at the rear portion of the equipped vehicle is located at orproximate to a longitudinal centerline of the equipped vehicle, andwherein said fourth vehicular camera disposed at the front portion ofthe equipped vehicle is located at or proximate to the longitudinalcenterline of the equipped vehicle.
 12. The vehicular control system ofclaim 1, wherein said data processor module receives and processes dataderived from a global positioning system of the equipped vehicle, andwherein, responsive at least in part to processing of data derived fromthe global positioning system of the equipped vehicle, location of theequipped vehicle is wirelessly transmitted to an external receiverremote from the equipped vehicle.
 13. The vehicular control system ofclaim 12, wherein data processing at said data processor modulecomprises performance of diagnostics.
 14. The vehicular control systemof claim 1, wherein said speed control system of the equipped vehiclecomprises an adaptive speed control system of the equipped vehicle. 15.The vehicular control system of claim 1, wherein said first vehicularcamera is disposed at a driver-side exterior mirror assembly at thedriver side of the equipped vehicle, and wherein said second vehicularcamera is disposed at a passenger-side exterior mirror assembly at thepassenger side of the equipped vehicle, and wherein said first, second,third and fourth image data is processed at said data processor moduleand, responsive at least in part to said processing of said first,second, third and fourth image data, a synthesized image is output to adisplay system of the equipped vehicle to visually inform a driver ofthe equipped vehicle of what is occurring in the area surrounding theequipped vehicle as would be viewed by a single virtual camera locatedexterior the equipped vehicle.
 16. The vehicular control system of claim15, wherein said data processor module comprises a video processor chip,a power supply and memory.
 17. A vehicular control system suitable foruse in a vehicle, said vehicular control system comprising: a dataprocessor module disposed at a vehicle equipped with said vehicularcontrol system; said data processor module receiving and processingimage data provided by a plurality of video sensors disposed at theequipped vehicle; said data processor module receiving and processingsensor data provided by a plurality of non-video sensors disposed at theequipped vehicle; said plurality of non-video sensors comprising a radarsensor; said plurality of video sensors comprising at least fivevehicular cameras; said at least five vehicular cameras comprising afirst vehicular camera disposed at a driver side of the equippedvehicle; said at least five vehicular cameras comprising a secondvehicular camera disposed at a passenger side of the equipped vehicle;said at least five vehicular cameras comprising a third vehicular cameradisposed at a rear portion of the equipped vehicle; said at least fivevehicular cameras comprising a fourth vehicular camera disposed at afront portion of the equipped vehicle; said at least five vehicularcameras comprising a fifth vehicular camera disposed at an in-cabin sideof a windshield of the equipped vehicle and viewing forwardly throughthe windshield of the equipped vehicle; wherein said first vehicularcamera has a first field of view exterior of the equipped vehicle and isoperable to capture first image data; wherein said second vehicularcamera has a second field of view exterior of the equipped vehicle andis operable to capture second image data; wherein said third vehicularcamera has a third field of view exterior of the equipped vehicle and isoperable to capture third image data; wherein said fourth vehicularcamera has a fourth field of view exterior of the equipped vehicle andis operable to capture fourth image data; wherein said fifth vehicularcamera has a fifth field of view exterior of the equipped vehicle and isoperable to capture fifth image data; wherein said data processor modulereceives first image data captured by said first vehicular camera at afirst interface; wherein said data processor module receives secondimage data captured by said second vehicular camera at a secondinterface; wherein said data processor module receives third image datacaptured by said third vehicular camera at a third interface; whereinsaid data processor module receives fourth image data captured by saidfourth vehicular camera at a fourth interface; wherein said dataprocessor module receives fifth image data captured by said fifthvehicular camera at a fifth interface; wherein said data processormodule receives radar data captured by said radar sensor of saidplurality of non-video sensors; wherein said data processor modulecomprises a radar sensor interface configured for receiving radar datacaptured by said radar sensor of said plurality of non-video sensors;wherein said data processor module communicates with other vehiclesystems via a vehicle bus of the equipped vehicle; wherein, responsiveat least in part to processing of image data and sensor data at saiddata processor module, other vehicles present exterior of the equippedvehicle are detected; wherein other vehicles detected present exteriorof the equipped vehicle are tracked based at least in part on processingof image data and sensor data at said data processor module; and whereinsaid data processor module receives and processes data derived from aglobal positioning system of the equipped vehicle, and wherein,responsive at least in part to processing of data derived from theglobal positioning system of the equipped vehicle, location of theequipped vehicle is wirelessly transmitted to an external receiverremote from the equipped vehicle.
 18. The vehicular control system ofclaim 17, wherein said data processor module comprises a video processorchip.
 19. The vehicular control system of claim 18, wherein said dataprocessor module communicates with other vehicle systems via a CANvehicle bus of the equipped vehicle.
 20. The vehicular control system ofclaim 19, wherein said data processor module comprises a video processorchip, a power supply and memory.
 21. The vehicular control system ofclaim 20, wherein said first vehicular camera is disposed at adriver-side exterior mirror assembly at the driver side of the equippedvehicle, and wherein said second vehicular camera is disposed at apassenger-side exterior mirror assembly at the passenger side of theequipped vehicle, and wherein said first, second, third and fourth imagedata is processed at said data processor module and, responsive at leastin part to said processing of said first, second, third and fourth imagedata, a synthesized image is output to a display system of the equippedvehicle to visually inform a driver of the equipped vehicle of what isoccurring in the area surrounding the equipped vehicle as would beviewed by a single virtual camera located exterior the equipped vehicle.22. A vehicular control system suitable for use in a vehicle, saidvehicular control system comprising: a data processor module disposed ata vehicle equipped with said vehicular control system; said dataprocessor module receiving and processing image data provided by aplurality of video sensors disposed at the equipped vehicle; said dataprocessor module receiving and processing sensor data provided by aplurality of non-video sensors disposed at the equipped vehicle; saidplurality of non-video sensors comprising a radar sensor; said pluralityof video sensors comprising at least five vehicular cameras; said atleast five vehicular cameras comprising a first vehicular cameradisposed at a driver side of the equipped vehicle; said at least fivevehicular cameras comprising a second vehicular camera disposed at apassenger side of the equipped vehicle; said at least five vehicularcameras comprising a third vehicular camera disposed at a rear portionof the equipped vehicle; said at least five vehicular cameras comprisinga fourth vehicular camera disposed at a front portion of the equippedvehicle; said at least five vehicular cameras comprising a fifthvehicular camera disposed at an in-cabin side of a windshield of theequipped vehicle and viewing forwardly through the windshield of theequipped vehicle; wherein said first vehicular camera has a first fieldof view exterior of the equipped vehicle and is operable to capturefirst image data; wherein said second vehicular camera has a secondfield of view exterior of the equipped vehicle and is operable tocapture second image data; wherein said third vehicular camera has athird field of view exterior of the equipped vehicle and is operable tocapture third image data; wherein said fourth vehicular camera has afourth field of view exterior of the equipped vehicle and is operable tocapture fourth image data; wherein said fifth vehicular camera has afifth field of view exterior of the equipped vehicle and is operable tocapture fifth image data; wherein said data processor module receivesfirst image data captured by said first vehicular camera at a firstinterface; wherein said data processor module receives second image datacaptured by said second vehicular camera at a second interface; whereinsaid data processor module receives third image data captured by saidthird vehicular camera at a third interface; wherein said data processormodule receives fourth image data captured by said fourth vehicularcamera at a fourth interface; wherein said data processor modulereceives fifth image data captured by said fifth vehicular camera at afifth interface; wherein said data processor module receives radar datacaptured by said radar sensor of said plurality of non-video sensors;wherein said data processor module comprises a radar sensor interfaceconfigured for receiving radar data captured by said radar sensor ofsaid plurality of non-video sensors; wherein said data processor modulecommunicates with other vehicle systems via a vehicle bus of theequipped vehicle; wherein, responsive at least in part to processing ofimage data and sensor data at said data processor module, other vehiclespresent exterior of the equipped vehicle are detected; wherein othervehicles detected present exterior of the equipped vehicle are trackedbased at least in part on processing of image data and sensor data atsaid data processor module; wherein said data processor module comprisesa video processor chip; and wherein said first vehicular camera isdisposed at a driver-side exterior mirror assembly at the driver side ofthe equipped vehicle, and wherein said second vehicular camera isdisposed at a passenger-side exterior mirror assembly at the passengerside of the equipped vehicle, and wherein said first, second, third andfourth image data is processed at said data processor module and,responsive at least in part to said processing of said first, second,third and fourth image data, a synthesized image is output to a displaysystem of the equipped vehicle to visually inform a driver of theequipped vehicle of what is occurring in the area surrounding theequipped vehicle as would be viewed by a single virtual camera locatedexterior the equipped vehicle.
 23. The vehicular control system of claim22, wherein, responsive at least in part to processing at said dataprocessor module of image data captured by said fifth vehicular camera,another vehicle present exterior of the equipped vehicle is detected.24. The vehicular control system of claim 23, wherein, responsive atleast in part to the detection of the other vehicle present exterior ofthe equipped vehicle, a state of headlamps of the equipped vehicle iscontrolled.
 25. The vehicular control system of claim 24, wherein saiddata processor module communicates with other vehicle systems via a CANvehicle bus of the equipped vehicle.
 26. The vehicular control system ofclaim 25, wherein said data processor module comprises a power supplyand memory.
 27. The vehicular control system of claim 26, wherein,responsive at least in part to processing of image data and sensor dataat said data processor module, a speed control system of the equippedvehicle is controlled and wherein said speed control system of theequipped vehicle comprises an adaptive speed control system of theequipped vehicle.
 28. The vehicular control system of claim 27, whereinsaid data processor module receives and processes data derived from aglobal positioning system of the equipped vehicle, and wherein,responsive at least in part to processing of data derived from theglobal positioning system of the equipped vehicle, location of theequipped vehicle is wirelessly transmitted to an external receiverremote from the equipped vehicle.
 29. The vehicular control system ofclaim 28, wherein data processing at said data processor modulecomprises performance of diagnostics.